#ifndef FEATURES_H
#define FEATURES_H


#include <pcl/point_types.h>

using namespace std;
using namespace pcl;


void removeNaNFromFeatures (PointCloud<FPFHSignature33>::Ptr features);

//normals are computed on the keypoints
void fpfhWithUniformKeypoints(
        PointCloud<PointXYZI>::Ptr keypoints,
        PointCloud<FPFHSignature33>::Ptr features,
        double radius);

#endif
